@inproceedings{Wahrburgetal2015, title = {Combined Pose-Wrench and State Machine Representation for Modeling Robotic Assembly Skills}, author = {Wahrburg, A. and Zeiss, S. and Matthias, B. and Peters, J. and Ding, H.}, booktitle = {Proceedings of the {IEEE/RSJ} Conference on Intelligent Robots and Systems}, pages = {852-857}, month = sep, year = {2015}, doi = {10.1109/IROS.2015.7353471}, url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Wahrburg_IROS_2015.pdf}, month_numeric = {9} }